36 lines
626 B
YAML
36 lines
626 B
YAML
costmap_2d:
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global_frame: map
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robot_base_frame: base_link
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rolling_window: false
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track_unknown_space: false
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plugins:
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- name: static_layer
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type: StaticLayer
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- name: inflation_layer
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type: InflationLayer
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- name: obstacle_layer
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type: ObstacleLayer
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- name: voxel_layer
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type: VoxelLayer
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path_plugins: ./libplugins.so
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footprint:
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- [0.3, 0.3]
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- [0.3, -0.3]
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- [-0.3, -0.3]
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- [-0.3, 0.3]
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transform_tolerance: 0.0
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update_frequency: 1.0
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width: 0.0
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height: 0.0
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resolution: 0.0
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origin_x: 0.0
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origin_y: 0.0
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footprint_padding: 0.0
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robot_radius: 0.0 |